Virtual Pipetting

ABSTRACT

A method for generating a control program for a laboratory automation device includes receiving configuration data of the laboratory automation device, generating a three-dimensional model of the components of the laboratory automation device from the configuration data, the three-dimensional model additionally including a virtual pipette; displaying the three-dimensional model with a virtual reality headset; receiving movement data of a motion sensing controller controlled by a user wearing the virtual reality headset, the movement data indicating a three-dimensional movement of the motion sensing controller in space; determining a movement of the virtual pipette in the three-dimensional model from the movement data and updating the three-dimensional model according to the movement of the virtual pipette; and generating a control program for the laboratory automation device from the movement data.

RELATED APPLICATIONS

This application is a continuation application of U.S. patentapplication Ser. No. 16/279,854, filed Feb. 19, 2019, which claimspriority to EP Patent Application No. 18157645.5, filed Feb. 20, 2018,each of which is hereby incorporated by reference in its entirety.

FIELD OF THE INVENTION

The invention relates to a method, a computer program and acomputer-readable medium for generating a control program for alaboratory automation device as well as to a control system.

BACKGROUND OF THE INVENTION

Laboratory automation devices are used for automating tasks of alaboratory assistant, which, for example, tests a patient for specificdiseases. Usually, a sample of the patient's blood, urine, stool, etc.is taken and analyzed by means of a bio-chemical procedure. Such aprocedure consists in various operations like adding substances,incubating, separating, etc. and a measurement process whichquantitatively or qualitatively measures the amount or presence of asubstance indicating the specific disease.

Usually, the programming of a laboratory automation device is acomplicated task that needs special skills. A program for controllingthe laboratory automation device may have to be input into a controllingPC. Although graphical tools for generating such a program may exist,more complicated procedures may have to be implemented with a specificscripting language, which needs special knowledge in programming and inthe functioning of the laboratory automation device. Therefore,laboratory assistants tend to perform procedures with a small number ofsamples themselves.

To simplify the programming of a laboratory automation device with arobot arm, it is known to manually move the robot arm in a teach mode,in which the robot arm can be freely moved to any location andteachpoints can be set by simply pressing a button. The position of therobot arm at the teachpoints is then saved and these positions are usedfor generating a control program.

EP 2 269 077 B1 relates to graphical programming method, in which partsof the layout of a laboratory automation device are shown in a graphicalinterface. A pipette in the graphical interface can be moved fordefining a control program of the laboratory automation device.

DESCRIPTION OF THE INVENTION

It is an objective of the invention to simplify the programming and/orcontrol of a laboratory automation device.

This objective is achieved by the subject-matter of the independentclaims. Further exemplary embodiments are evident from the dependentclaims and the following description.

A first aspect of the invention relates to a method for generating acontrol program for a laboratory automation device. The method may beperformed with a system that comprises the laboratory automation device,its controller, a virtual reality headset and a motion sensingcontroller. In general, the system may generate a three-dimensionalvirtual model of at least a part of the laboratory automation device andmay display the model in the virtual reality headset. With the motionsensing controller, a virtual pipette, which is also part of thethree-dimensional model, may be manipulated. A person or user wearingthe virtual reality headset may use the motion sensing controller tomove the virtual pipette and/or to aspirate and eject virtual liquidswithin the model. The system then may record the manipulations of thevirtual pipette and may generate a control program for the laboratoryautomation device, which repeats the procedure performed in thethree-dimensional model in reality.

In such a way, the programming of the laboratory automation device maybe simplified. A user may perform a task with the virtual pipette withinvirtual reality for one time. The generated control program may beexecuted several times and may perform the task with the laboratoryautomation device several times in reality.

According to an embodiment of the invention, the method comprises:receiving configuration data of the laboratory automation device, theconfiguration data encoding positions of components in the laboratoryautomation device.

In general, a laboratory automation device may be any device adapted forautomatically performing tasks of a laboratory assistant. At least sucha laboratory automation device comprises a pipetting arm, which isadapted for moving a pipette between different positions and foraspirating and ejecting of liquid at these positions. The liquid may beaspirated from and ejected in cavities provided by the components. Suchcomponents may comprise at least one of a well, a sample tube, amicrotiter plate and/or a reagent container, etc.

The configuration data may encode the positions of the components. Forexample, for every component, the configuration data may comprise a typeof component and a position and/or orientation of the component providedin two- or three-dimensional coordinates.

The configuration data may be provided with a data file that comprisesinformation of a fixed layout of the laboratory automation device and/orwith data generated by the laboratory automation device, which hassensors capable of determining, which components are actually arrangedin the laboratory automation device. For example, a laboratory assistantmay arrange components in the laboratory automation device and then maystart the method. The laboratory automation device then may generate aconfiguration file, which encodes at least a part of the positions ofthe arranged components, for example with a bar code reader adapted forreading bar codes on the components.

According to an embodiment of the invention, the method furthercomprises: generating a three-dimensional virtual model of thecomponents of the laboratory automation device from the configurationdata, the three-dimensional model additionally including a virtualpipette. From the configuration data, virtual components are generatedin the three-dimensional model. The virtual components may be modeled asobjects of an object oriented programming language and/or may include athree-dimensional layout of the components. For example, thethree-dimensional layout of a virtual component may be determined from atype of the component in the configuration data and a standard geometriclayout of the component, which for example may be saved in the deviceperforming the method. The standard layout then may be moved by theposition and/or orientation of the component in the configuration data.

It has to be noted that the three-dimensional model does not contain amodel of the pipetting arm but a virtual pipette, which may replace thepipetting arm. The virtual pipette may be manipulated by the user towhich the three-dimensional model is displayed. Usually, the pipettingarm is movable above a workbench of the laboratory automation device, onwhich several components may be arranged. For example, a cartridge withsample tubes, one or more microtiter plates with wells and one or morecontainers with reagents may be provided on the workbench. Furthermore,carries for microtiter plates, shakers, incubators, trays withdisposable tips, etc. may be part of the laboratory automation deviceand/or arranged on the workbench. All or some of these components may beencoded in the configuration data and/or provided in thethree-dimensional model. The three-dimensional model may represent apart of or the complete topography and/or layout of the working area ofthe laboratory automation device.

In general, the three-dimensional model may include virtual componentswith cavities, in which the tip of the virtual pipette may be moved. Thethree-dimensional model may include virtual components adapted forreceiving liquids.

According to an embodiment of the invention, the method furthercomprises: displaying the three-dimensional model with a virtual realityheadset. The virtual reality headset may be adapted for being worn by auser and/or for displaying a perspective view of the three-dimensionalmodel to the user. The virtual reality headset may generate two imagesfor the eyes of the person. The perspective view of thethree-dimensional model may depend on the position and/or orientation ofthe head of the user. The virtual reality headset may comprise sensorsfor determining the position and/or orientation of the head of the user.It has to be noted that also augmented reality may be seen as virtualreality.

According to an embodiment of the invention, the method furthercomprises: receiving movement data of a motion sensing controllercontrolled by the user wearing the virtual reality headset, the movementdata indicating a three-dimensional movement of the motion sensingcontroller in space, determining a movement of a virtual pipette in thethree-dimensional model based on the movement data and updating thethree-dimensional model according to the movement of the virtualpipette.

The motion sensing controller may have a sensor for determining aposition and/or orientation of the motion sensing controller in space.For example, such a sensor may comprise a motion sensor, such as anacceleration sensor. The user may hold the motion sensor with his or herhand and may move it in the view of the three-dimensional model. Thevirtual pipette in the three-dimensional model is then moved accordinglyto the sensed movement of the motion sensing controller. For example,the motion sensing controller only may comprise a handle and the pipettetip of the virtual pipette is provided at a lower end of the handle inthe three-dimensional model.

According to an embodiment of the invention, the method furthercomprises: generating a control program for the laboratory automationdevice from the movement data, wherein the control program is adaptedfor moving a pipetting arm with a pipette of the laboratory automationdevice with respect to the components accordingly to the movement of thevirtual pipette in the three-dimensional model. It may be that thecontrol program is generated and/or executed, during the time, when thevirtual pipette is moved by the user. In other words, the controlprogram may be generated and/or executed (nearly) simultaneously withthe movement of the virtual pipette. It also may be that the controlprogram is generated and/or executed, when the user has finished themovement of the virtual pipette. It also may be that the control programis generated and stored, when the user has finished the movement of thevirtual pipette and the control program is executed at a later time.

For example, specific tracking or teaching points on the track of thevirtual pipette may be saved. Such points may be defined and/orrecorded, when the tip of the virtual pipette enters a cavity of avirtual component. From these points, a movement of the pipetting armmay be derived, which movement also visits all the points. It has to benoted that the track of the pipetting arm may be different from thetrack of the virtual pipette.

The movement of the pipetting arm may be encoded into a control program,which, when executed, performs the movement. The control program may beany data or data file, which, when processed by a controller of thelaboratory automation device, results in the respective movement of thepipetting arm. The control program also may be a script program that maybe modified by the user.

According to an embodiment of the invention, the method furthercomprises: receiving activation data from the motion sensing controller,the activation data indicating a finger movement of the user on themotion sensing controller. Also, a thumb may be seen as a finger. Themotion sensing controller may comprise a button, which may be adaptedfor sensing, whether it is pressed or not. The activation data mayencode, whether the button is pressed or not.

According to an embodiment of the invention, the method furthercomprises: determining an aspiration and/or dispensing of a virtualliquid in the three-dimensional model from the position of the virtualpipette in the three-dimensional model at which the activation dataindicates an activation of the motion sensing controller. The motionsensing controller may work like a mechanical and/or manual pipette.When the button is released, this may result in a virtual aspiration ofthe virtual pipette. When the button is pressed, this may result in avirtual ejection of the virtual pipette.

It may be encoded in the three-dimensional model, which type of virtualliquid is contained in every cavity of the virtual components and/orwhich cavities are empty. These types of liquids may also be encoded inthe configuration data. The types of liquids in the configuration datamay be determined from a barcode on the respective component, which mayhave been read by a reader of the laboratory automation device. When thevirtual pipette is aspirated, it may be assumed that the virtual pipettecontains the type of liquid in the cavity its tip is in. When thevirtual pipette is ejected, it may be assumed that the cavity, in whichthe tip of the virtual pipette is in, is filled with the type of liquidin the virtual pipette.

It has to be noted that the type of liquid may refer to a chemicalproperty and/or content of the liquid, such as the liquid being a buffersolution, a sample, a reagent, etc. and/or to a physical property of theliquid, such as viscosity, surface tension, density, etc.

According to an embodiment of the invention, the control program isadapted for controlling the pipette of the pipetting arm for aspiratingand dispensing of a liquid accordingly to the virtual pipette in thethree-dimensional model. It may be recorded, when the virtual pipette isaspirated and/or ejected. The control program then generated also maycomprise commands for aspirating and/or ejecting the pipette of thepipetting arm, when the pipette or its tip is moved in the correspondingcavity.

According to an embodiment of the invention, aspiration points anddispensing points for liquids are determined from the movement data andthe activation data wherein a movement of the pipetting arm isdetermined from the aspiration points and dispensing points. The points,where a liquid is dispensed or ejected may be seen as the most importanttracking points and/or teachpoints. It may be that the control programis generated solely from these points. The movement of the pipetting armbetween two consecutive points, for example an aspiration point and aconsecutive dispensing point, may be determined independently from themovement of the virtual pipette between these points. Thus, a movementof the pipetting arm may follow a different path as the virtual pipette.It may be that the movement of the pipetting arm is more optimized withrespect to path length and/or with respect to restrictions of thepipetting arm in view of possible movements and/or avoiding ofcollisions within the laboratory automation device.

According to an embodiment of the invention, a movement of liquidsvirtually aspirated and dispensed with the virtual pipette is performedin the three-dimensional model and/or displayed in the virtual realityheadset. As already mentioned, the type of virtual liquids contained incavities of the virtual components may be stored and/or tracked.Furthermore, a presence of a liquid may be visually indicated in thethree-dimensional mode. Different type of liquids may be displayed withdifferent colors. For example, cavities of virtual components for sampletubes, wells, reagent containers, etc. may be shown filled with acolored and/or transparent substance.

It also may be that different types of pipettes and/or pipettes tips aredisplayed with differently colored virtual pipettes. The type of pipettetip may be defined by maximal nominal volume of liquid potentiallyaspirated and/or by a geometric form of the pipette tip.

According to an embodiment of the invention, the components include adisposable tip and a mounting and movement of a virtual disposable tipis performed in the three-dimensional model and displayed in the virtualreality headset. The three-dimensional model may contain a virtualcomponent for a disposable tip. When the virtual pipette is moved onsuch a virtual disposable tip, it may be modeled such that the virtualdisposable tip is mounted on the virtual pipette. Also a disposal of thevirtual disposable tip may be modeled. The movement of the virtualdisposable tip may be displayed for the user.

The control program determined from the movement then may encode amounting and/or a disposable of a disposable tip at specific trackingpoints and/or teachpoints.

According to an embodiment of the invention, for each component, theconfiguration data encodes a type of component and a position of thecomponent in the laboratory automation device. The three-dimensionalmodel may be generated from modeling data encoding a geometric layoutfor each component. As already mentioned, the configuration data maycomprise a type, position and/or orientation of a component and thethree-dimensional layout of a virtual component may be determined from ageometric layout, which may be associated with the type of thecomponent. The geometric layout for the components may be modeled inadvance and/or may be stored in the device performing the method. Inother words, the three-dimensional model may be assembled frompredefined geometric layout data of the components, which are indicatedin the configuration data.

According to an embodiment of the invention, types of liquids containedin the components are specified in the configuration data of thelaboratory automation device. These types may be determined with asensor of the laboratory automation device and encoded in theconfiguration file. As already mentioned, bar codes on the componentsmay encode the contained liquid. Different types of liquids may then bedifferently visualized in the three-dimensional model, for example withdifferent colors.

It has to be noted that also other computer-readable codes, such as QRcodes and/or RFID tags may be provided on the components and read with asensor of the laboratory automation device.

According to an embodiment of the invention, the method furthercomprises: manually arranging at least some of the components in thelaboratory automation device; and determining at least some of theconfiguration data with sensors of the laboratory automation device.

The laboratory automation device may comprise a fixed layout, i.e.components, which are not movable and/or removable by the user, suchcomponents may include a workbench, carriers, shakers, etc. This fixedlayout may be provided in configuration data stored in the computingdevice performing the method.

Furthermore, the laboratory automation device may comprise a changeablelayout, i.e. components, which may be moved, removed and included intothe laboratory automation device by the user. The position and/ororientation of these components may be determined with one or moresensors of the laboratory automation device. The configuration datadetermined therefrom may be sent from the laboratory automation deviceto the computing device performing the method.

According to an embodiment of the invention, movement data, activationdata and/or mounting/disposing of virtual disposable pipette tips isrecorded for one virtual sample. The user, which performs the task inthe three-dimensional model, i.e. in virtual reality, may perform thistask for only one sample, although the three-dimension model maycomprise a plurality of samples.

The control program may be then generated, such that it repeats themovement of the pipetting arm, aspiration and dispensing of the pipette,mounting and disposing of the disposable pipette tip for a plurality ofreal samples in the laboratory automation device. The control programmay repeat the steps for every sample in the laboratory automationdevice, which presence was determined with a sensor. It also may be thatthe control program may be altered by the user after its generation. Forexample, the user may include a control structure into the controlprogram, which repeats the steps performed in virtual reality.

It has to be noted, that a tracking point or teaching point, from whicha part control program is generated, may be defined with respect to thecavity type entered by the virtual pipette. Such a point not only mayencode a coordinate position. For example, the tracking point orteaching point may encode “pipette in sample tube”, “pipette in emptywell”, etc. In such a way, not only the movement of the virtual pipettemay be repeated with the laboratory automation device, but the steps ofthe tasks performed by the user in virtual reality for one virtualsample may be applied to several real samples in the laboratoryautomation device. In this case not the exact movement of the virtualpipette, but the movement scheme defined with the virtual pipette may berepeated.

For example, the movement of the virtual pipette may be repeated for allsamples of a microtiter plate. In this case, the movement may bedetermined by adding offsets to the original movement, which offsetsdepend on distances between wells in the microtiter plate.

It also may be that a movement of a virtual single channel pipette ismapped to the movement of a real multi-channel pipette.

According to an embodiment of the invention, the motion sensingcontroller is adapted for being held in a hand of a user wearing thevirtual reality headset. The motion sensing controller may comprise amotion sensor, such as an acceleration sensor for generating themovement data and/or may comprise a button for generating the activationdata. It may be that the motion sensing controller is designed like thehandle part of a real pipette. The pipette part may be modeled in thethree-dimensional model and/or only may be present in virtual reality.

According to an embodiment of the invention, the virtual reality headsetcomprises two displays for generating a perspective view of thethree-dimensional model. It may be that the virtual reality headset isan augmented reality headset. It has to be noted that the perspectiveview of the three-dimensional model may be displayed, such that it isvisible outside of the real laboratory automation device. It is notnecessary that the user performs the task inside the laboratoryautomation device.

According to an embodiment of the invention, the virtual pipette is amultichannel pipette comprising a plurality of pipette tips. Asmentioned above, the handle part of the pipette may be provided by themotion sensing controller. The pipette part with a plurality of pipettetips may be present only in the three-dimensional model.

A further aspect of the invention relates to a computer program forgenerating a control program for a laboratory automation device, which,when being executed by a processor, is adapted to carry out the steps ofthe method as described in the above and in the following. The computerprogram may be executed in a computing device, such as a PC,communicatively interconnected with the laboratory automation device,the virtual reality headset and the motion sensing controller.

A further aspect of the invention relates to a computer-readable medium,in which such a computer program is stored. A computer-readable mediummay be a floppy disk, a hard disk, an USB (Universal Serial Bus) storagedevice, a RAM (Random Access Memory), a ROM (Read Only Memory), an EPROM(Erasable Programmable Read Only Memory) or a FLASH memory. Acomputer-readable medium may also be a data communication network, e.g.the Internet, which allows downloading a program code. In general, thecomputer-readable medium may be a non-transitory or transitory medium.

A further aspect of the invention relates to a control system for alaboratory automation device, which comprises the laboratory automationdevice, the virtual reality headset, the motion sensing controller and acomputing device. The computing device is communicatively interconnectedwith the laboratory automation device, the virtual reality headset andthe motion sensing controller, for example via USB, Ethernet and/or awireless connection. Furthermore, the computing device is adapted forperforming the method as described in the above and in the following.

The computing device also may be adapted for controlling the laboratoryautomation device and/or also may perform the control program, which wasgenerated with the aid of virtual reality.

It has to be understood that features of the method as described in theabove and in the following may be features of the control system, thecomputer program and the computer-readable medium as described in theabove and in the following and vice versa.

Furthermore, the method may be a method for controlling the laboratoryautomation device, which then also may perform the generated controlprogram.

These and other aspects of the invention will be apparent from andelucidated with reference to the embodiments described hereinafter.

BRIEF DESCRIPTION OF THE DRAWINGS

Below, embodiments of the present invention are described in more detailwith reference to the attached drawings.

FIG. 1 schematically shows a control system according to an embodimentof the invention.

FIG. 2 schematically shows a three-dimensional model used in a methodfor generating a control program according to an embodiment of theinvention.

FIG. 3 schematically shows a virtual pipette used in a method forgenerating a control program according to an embodiment of theinvention.

FIG. 4 shows a flow diagram for a method for generating a controlprogram and for controlling a laboratory automation device according toan embodiment of the invention.

The reference symbols used in the drawings, and their meanings, arelisted in summary form in the list of reference symbols. In principle,identical parts are provided with the same reference symbols in thefigures.

DETAILED DESCRIPTION

FIG. 1 shows a control system 10, which comprises a laboratoryautomation device 12, a virtual reality headset 14 and a motion sensingcontroller 16. The control system 10 furthermore comprises a computingdevice 18, for example a PC, communicatively interconnected with thelaboratory automation device 12, the virtual reality headset 14 and themotion sensing controller 16. The communication may be performed viaBluetooth© and/or Ethernet©.

The laboratory automation device 12 comprises a workbench 20, onto whichseveral removable components 22 may be mounted. For example, thecomponents 22 include a container 22 a with disposable pipette tips 24,a container 22 b with sample tubes 26, a microtiter plate 22 c withwells 28 and a reagent container 22 d. The wells 28 may contain liquids29.

The laboratory automation device 12 furthermore comprises a pipettingarm 30 with a pipette 32 and a sensor 34 adapted for determining theposition and/or orientations of the components 22. The sensor 34 alsomay be and/or comprise a reader adapted for reading barcodes or moregeneral computer-readable codes on the components 22. The sensor 34 alsomay be and/or may comprise a camera, a laser scanner and/or any deviceadapted for determining positions and/or orientations of components 22.

The virtual reality headset 14 comprises two displays 36, which areadapted for providing two slightly different images to a user, whichwears the virtual reality headset 14. The two images may generate aperspective view of a scene generated by the computing device 18, suchthat the user has a spatial impression of the scene. Furthermore, thevirtual reality headset 14 may comprise a motion sensor 38, for examplean acceleration sensor, which is adapted for determining a positionand/or orientation of the head of the user. In such a way, a viewposition and/or view direction of the user may be determined.

The motion sensing controller 16 is adapted for being held in the handof the user with a handle part 40. As the virtual reality headset 15,the motion sensing controller 16 comprises a motion sensor, such as anacceleration sensor 42 adapted for determining a position and/ororientation of the motion sensing controller 16. The motion sensingcontroller 16 is used in the system for moving a virtual pipettedisplayed in the virtual reality headset 14.

Furthermore, the motion sensor controller comprises a button 44, whichmay be pressed by the user. With the button 44, an aspiration anddispensing with the virtual pipette may be triggered.

FIG. 1 furthermore shows data that may be exchanged between thecomponents during the operation of the system 10.

In the beginning, configuration data 46 from the laboratory automationdevice 12 may be transmitted to the computing device 18. Theconfiguration data 46 may encode a position and/or orientation of atleast some of the components 22 of the laboratory automation device 12.For example, this data may be acquired with the sensor 34.

From the configuration data 46, the computing device generates athree-dimensional or virtual model of at least a part of the laboratoryautomation device 12. In this model also a virtual pipette is displayed.

The computing device 18 receives movement data 48 from the virtualreality headset 14, which may encode an actual position and/ororientation of the virtual reality headset 14.

The computing device 18 receives movement and optionally activation data50 from the motion sensing controller 16, which encodes an actualposition and/or orientation as well as a button press state of themotion sensing controller 16.

From the data 50, the computing device 18 determines a position and/ororientation of the virtual pipette in the virtual model and with the aidof the data 48 generates display data 52 for the virtual reality headset14.

In such a way, as will also described below in more detail, thecomputing device 18 is able to record a movement and optionallyactivation of the virtual pipette during a task, the user performs inthe virtual model. When the user has finished the task, the computingdevice 18 generated a control program 54 for the laboratory automationdevice 12, which performs the same task in reality with the laboratoryautomation device 12.

In the end, the computing device 18 may execute the control program,which then generates control commands 56, which are transmitted to thelaboratory automation device 12 and/or which control the pipetting arm30 to repeat the task performed by the user with the virtual pipette.

FIG. 2 schematically shows a three-dimensional model 58 that may begenerated by the computing device 18 and that may be displayed in thevirtual reality headset 14. The three-dimensional model 58 may becomposed of virtual components 22′, which have been generated with theaid of the configuration data 46. The three-dimensional model may beseen as a virtual model of at least a part of the laboratory automationdevice.

For example, the virtual components 22′ may include a virtual container22 a′ with virtual disposable pipette tips 24′, a virtual container 22b′ with virtual sample tubes 26′, a virtual microtiter plate 22 c′ withvirtual wells 28′ and a virtual reagent container 22 d′.

The virtual components 22′ furthermore may comprise components, whichare based on fixed real components of the laboratory automation device12. For example, there may be a virtual workbench 20′.

It has to be understood that the three-dimensional model 58 may becomposed of objects of a programming language and/or that the virtualcomponents 22′ are all based on these objects. These objects may betransformed with a graphics rendering engine into display or image data52, which then may be displayed on the displays 36.

Furthermore, the three-dimensional model 58 comprises a virtual pipette60. As shown in FIG. 2 , the virtual pipette 60 may be positioned in themodel 58, such that the user sees the virtual pipette 60 as extension ofthe motion sensing controller 16, when the virtual reality headset 14 isadapted for generating augmented reality.

It is also possible that the three-dimensional model comprises liquids62, 64 as virtual components 22′. As an example, in a virtual well 28′,a virtual liquid 62 is shown and in the virtual pipette, a furthervirtual liquid 64 is shown. These virtual liquids 62, 64 may be coloreddifferently, when they are representing different types of liquids, suchas the sample and a reagent.

Also the virtual pipette 60 may be colored differently for indicatingdifferent types of pipette tips.

FIG. 2 additionally shows a path 66 of the virtual pipette 60 in thethree-dimensional model 58 and tracking points 68 a, 68 b, 68 c, 68 d onthe path 66, which, for example, may be recorded, when the user pressesthe button 44.

FIG. 3 shows a further virtual pipette 60′, which is modeled as amultichannel pipette 60′ comprising a plurality of pipette tips 70. Themethod described in the above and in the following is not limited topipettes with one tip. It also may be performed with a virtual pipettewith multiple tips, for example 8, 12, 96, 384 tips.

FIG. 4 shows a flow diagram for a method for generating a controlprogram 54 for a laboratory automation device 12 and optionally forcontrolling the laboratory automation device 12 by executing the controlprogram 54.

In the beginning, a user, for example a laboratory assistant, maymanually arrange at least some of the components 22 in the laboratoryautomation device 12. For example, the user may arrange a container 22 awith disposable tips 24, a container 22 b with sample tubes 22 b, amicrotiter plate 22 c and a reagent container 22 d on the workbench 20(see FIG. 1 ).

In step S10, the method may then be started by starting a correspondingcomputer program in the computing device 18.

The computing device 18 then may request a first part of theconfiguration data 46 from the laboratory automation device 12, whichthen determines the first part of the configuration data 46 with one ormore sensors 34. For example, a laser scanner and/or camera maydetermine the types, the positions and/or orientations of the components22. Furthermore, a bar code scanner may scan bar codes on the components22 and/or an RFID scanner may be used to determine their type and/orcontents.

For each component, the configuration data 46 may encode a type ofcomponent 22, a position of the component 22, an orientation of thecomponent 22 and/or a content of the component 22. It has to be notedthat also the disposable tips 24, the sample tubes 26 and the wells 28may be seen as components 22, which are subcomponents of the components22 a to 22 c. For example, the configuration data 46 may be provided ina tree-structure accounting for the arrangement of components 22 withinother components 22.

It also may be possible that the configuration data 46 specifies a typeof liquid contained in a component 22. This type may be the content ormay be derived from the content of the respective component 22.

The first part of the configuration data 46 relating to components 22,which may be arranged by the user, may be seen as configuration data fora variable layout of the laboratory automation device. A second part ofthe configuration data 46′, which relates to fixed components, i.e. afixed layout, of the laboratory automation device 12, which cannot beremoved or moved by the user, may be stored in the computing device 18directly. However, also this part may be sent from the laboratoryautomation device 12 to the computing device 18. For example, theworkbench 20 may be encoded as fixed component in the configuration data46′.

In step S12, the configuration data 46, 46′ of the laboratory automationdevice 12 is received in the computing device 18, which then generates athree-dimensional model 58 of the components 22 of the laboratoryautomation device 12 from the configuration data 46, 46′.

In the computing device 18, modeling data 72 may be stored, which, foreach type of component 22, encodes a geometric layout for the respectivecomponent 22. The modeling data 72 may encode coordinates, faces, a wiremodel, etc. of the respective geometric layout.

With the modeling data 72, the computing device 18 may generate thethree-dimensional model 58 by moving and orienting the respectivemodeling data 72 with the positions and orientations encoded in theconfiguration data 46, 46′.

The three-dimensional model 58 additionally includes a virtual pipette60. Also for this virtual pipette 60, modeling data may be stored in thecomputing device 18.

The user may now put on the virtual reality headset 14 and may take themotion sensing controller 16.

In step S14, the computing device 18 receives movement data 48 from thevirtual reality headset 14 and determines a position and orientation ofthe head of the user. Therefrom, a view direction and a field of viewmay be determined. With the field of view and view direction, thecomputing device may render a corresponding scene for each eye of theuser and/or may generate display data 52. The display data 52 may begenerated with a rendering engine. The display data 52 is thentransmitted to the reality headset 14, when displays then thecorresponding view of the three-dimensional model 58, for example asshown in FIG. 2 .

The user now sees at least a part of the laboratory automation device 12in virtual reality. In particular, he or she sees the virtual components20′, 22′, 24′, 26′, etc. which may look similar to the correspondingreal ones 20, 22, 24, 26, etc. The modeling data 72 may be provided,such that a virtual component may look equal or similar to its realcounterpart.

As already mentioned, different types of virtual liquids 62, 64 may bedifferently visualized in the three-dimensional model, for example withdifferent colors. This also may be the case, when the corresponding realliquids look quite similar. This may help the user to better distinguishthe virtual liquids 62, 64 from each other. It also may be that, when avirtual liquid 64 is added to an already present other liquid 62, thenew type of liquid, corresponding to the mixture, is associated with thecorresponding component 22′, which new type may be visualized in afurther different color.

In step S14, the computing device 18 also receives movement andactivation data 50 from the motion sensing controller 16. The movementdata 50 indicates a three-dimensional movement of the motion sensingcontroller 16 in space and the computing device 18 may determine aposition and/or orientation of the virtual pipette 60 in thethree-dimensional model 58. The view of the three-dimensional model 58is displayed together with the virtual pipette 60 to the user, whichsees the virtual pipette 60 moved by him through the three-dimensionalmodel 58.

In general, a movement of the virtual pipette 60 in thethree-dimensional model 58 is determined based on the movement data 50and the three-dimensional model 58 is updated accordingly to themovement of the virtual pipette 60.

The computing device 18 may record a path 66 of the one or more tips ofthe virtual pipette. This path 66 later may be used for generating thecontrol program 54. It also may be that the path 66 is displayed in thethree-dimensional model 58. This may help the user to verify, whether hehas performed the task correctly.

The activation data 50 from the motion sensing controller 16 mayindicate a finger press and/or finger movement of the user on the button44 of the motion sensing controller 16. Whenever the user presses thebutton 44, it may be assumed that the virtual pipette 60 aspires aliquid 62, 64, when its tip is within a virtual liquid 62, 64.Correspondingly, it may be assumed that a liquid 62, 64 in the pipette60 is dispensed in the virtual component 22′, in which the tip of thepipette 60 is located, when the button is released. However, theactivation data 50 may be evaluated in another way, for example, a shortbutton press may result in an aspiration or dispensing, whether thevirtual pipette 60 is filled or not.

In general, an aspiration and/or dispensing of a virtual liquid 62, 64in the three-dimensional model 58 is determined from the position of thevirtual pipette 60 in the three-dimensional model 58 at which theactivation data 50 indicates an activation of the motion sensingcontroller 16.

It has to be noted that the three-dimensional model 58 also may show avirtual liquid 62, 64 in the virtual pipette 60. In such a way, when thevirtual pipette 60 filled with a liquid 62, 64 is moved, a movement ofliquids virtually aspirated and dispensed with the virtual pipette 60may be performed in the three-dimensional model 58 and may be displayedin the virtual reality headset 14.

Furthermore, it may be that the virtual components 22′ include virtualdisposable tips 24′. In this case, a mounting and movement of thedisposable tips 24 may be performed in the three-dimensional model 58and displayed in the virtual reality headset 14.

For example, when the mounting part of the virtual pipette 60 is locatedat the position of a virtual disposable tip 24′, it may be determinedthat the virtual disposable tip 24′ is mounted to the virtual pipette60. Corresponding activation data 50, such as a double click of thebutton 44, may indicate a disposal of the virtual disposable tip 24′.

The computing device 18 furthermore may record tracking points 68 a, 68b, 68 c, 68 d on the path 66. Whenever a specific event takes place,such as mounting or disposing of a disposable tip 24′ (tracking point 68a, see FIG. 2 ), aspiration of a liquid 62, 64 (tracking points 68 b, 68d), dispensing of a liquid 62, 64 (tracking points 68 c), such atracking point may be recorded. The tracking point 68 a may be amounting point, the tracking points 68 b, 68 d may be aspiration pointsand the tracking point 68 c may be a dispensing point.

In general, an event takes place, when the content and/or theconfiguration of the virtual pipette 60 changes. It also may be that anevent takes place, when the content of a virtual component 22′ changes.

A tracking point 68 a, 68 b, 68 c, 68 d may encode the position of theevent and/or the type of the event. The position may be encoded asthree-dimensional coordinate and/or as the component 22′, where theevent takes place. The type of the event may be encoded with the type ofthe liquid 62, 64, which is aspired or dispensed with the virtualpipette.

The tracking points 68 a, 68 b, 68 c, 68 d may be used for generatingthe control program 54. It also may be that the tracking points aredisplayed in the three-dimensional model 58. This additionally may helpthe user to verify, whether he has performed the task correctly.

When the user has finished his or her task in virtual reality, he mayput off the virtual reality headset 14 and may command the computingdevice 18 (or the respective computer program running in the computingdevice 18) to generate the control program 54.

In step S16, the control program 54 for the laboratory automation device12 is then generated from the movement and activation data 50 and, inparticular, from the information derived therefrom, such as the path 66and/or the tracking points 68 a, 68 b, 68 c, 68 d.

In general, the control program 54 is generated such that it is adaptedfor moving the pipetting arm 30 with a pipette 32 of the laboratoryautomation device 12 with respect to the components 22 accordingly tothe movement of the virtual pipette 60 in the three-dimensional model58, for controlling the pipette 32 of the pipetting arm 30 foraspirating and dispensing of a liquid accordingly to the virtual pipette60 in the three-dimensional model 58 and/or for mounting and disposingof disposable tips 24 accordingly to the virtual pipette 60 in thethree-dimensional model 58.

In one example, the control program 54 may be generated, such that onlythe aspiration and dispensing of the virtual pipette 60, optionally amounting and disposing of disposable tips 24, and the movement to therespective positions is repeated by the pipetting arm 30 with thepipette 32. It is not necessary that the control program knows thecontent and/or liquids within the respective components.

In another example, the user performs his or her task for one virtualsample 26′, i.e. the movement and activation data 50 is recorded for onevirtual sample and the control program 54 is generated, such that itrepeats the movement of the pipette 32 arm and/or aspiration anddispensing of the pipette 32 for a plurality of real samples 26 in thelaboratory automation device 12. For example, this may be achieved bysimply moving the positions, where an aspiration and dispensing of thepipette 32 and optionally a mounting and disposing of a disposable tiptakes place to the next neighbouring position at a correspondingcomponent 22.

In a further example, the movement of the pipetting arm 30 and thepipette 32, an aspiration and dispensing of pipette 32 and/or optionallya mounting and disposing of disposable tips 24 is determined from thetracking points 68 a, 68 b, 68 c, 68 d. From the events associated withthe tracking points, corresponding commands for the control program 54may be derived. For example, the tracking point 68 a may be convertedinto the command “mount removable tip” and the tracking point 68 a maybe converted into “aspire sample”, etc.

Also in this case, the control program 54 may be generated, such that itrepeats the task for several samples. For example, it may be that theconfiguration data 46 may contain information for a plurality of realpresent liquids 29 and that the task was performed for one of thevirtual liquids 62. The control program 54 may then be generated toperform the task for all samples 26.

In step S18, the control program 54 optionally may be modified into acontrol program 54′. For example, the generated control program 54 maybe a script, which may be modified further by the user. For example, arepeating control structure may be inserted by the user into the controlprogram 54. It also may be that additional steps, like the incubation ofa sample, are included into the control program 54.

In step S20, the control program 54 or 54′ is executed by the computingdevice 18, for example, when the user commands a computer program in thecomputing device to execute the control program 54, 54′. This may bedone several times. For example, when the control program 54, 54′ hasfinished, the user may arrange new components 22 in the laboratoryautomation device 12 in the same layout and may start the controlprogram 54, 54′ again.

When the control program 54, 54′ is executed, control commands 56 aregenerated and the laboratory automation device 12 performs the task,which has been designed by the user in virtual reality. In particular,the same task performed for one sample 26′ in virtual reality may beperformed a plurality of times with the laboratory automation device 12for a plurality of samples 26.

While the invention has been illustrated and described in detail in thedrawings and foregoing description, such illustration and descriptionare to be considered illustrative or exemplary and not restrictive; theinvention is not limited to the disclosed embodiments. Other variationsto the disclosed embodiments can be understood and effected by thoseskilled in the art and practising the claimed invention, from a study ofthe drawings, the disclosure, and the appended claims. In the claims,the word “comprising” does not exclude other elements or steps, and theindefinite article “a” or “an” does not exclude a plurality. A singleprocessor or controller or other unit may fulfil the functions ofseveral items recited in the claims. The mere fact that certain measuresare recited in mutually different dependent claims does not indicatethat a combination of these measures cannot be used to advantage. Anyreference signs in the claims should not be construed as limiting thescope.

What is claimed is:
 1. A method for generating a control program for alaboratory automation device, the method comprising: receivingconfiguration data of the laboratory automation device, theconfiguration data encoding positions and/or orientations of componentsin the laboratory automation device, wherein at least some of theconfiguration data is determined with one or more sensors of thelaboratory automation device, wherein the laboratory automation devicecomprises a changeable layout with components that are moveable,removable and includable into the laboratory automation device by auser, wherein the positions and/or orientations of these components aredetermined with the one or more sensors of the laboratory automationdevice; generating a three-dimensional model of the components of thelaboratory automation device from the configuration data, thethree-dimensional model additionally including a virtual pipette;displaying the three-dimensional model with a virtual reality headset;receiving movement data of a motion sensing controller controlled by auser wearing the virtual reality headset, the movement data indicating athree-dimensional movement of the motion sensing controller in space;determining a movement of the virtual pipette in the three-dimensionalmodel from the movement data and updating the three-dimensional modelaccording to the movement of the virtual pipette; generating a controlprogram for the laboratory automation device from the movement data,wherein the control program is adapted for moving a pipetting arm with apipette of the laboratory automation device with respect to thecomponents accordingly to the movement of the virtual pipette in thethree-dimensional model.
 2. The method of claim 1, further comprising:receiving activation data from the motion sensing controller, theactivation data indicating a finger movement of the user on the motionsensing controller; determining an aspiration and/or dispensing of aliquid in the three-dimensional model from the position of the virtualpipette in the three-dimensional model at which the activation dataindicates an activation of the motion sensing controller; wherein thecontrol program is adapted for controlling the pipette of the pipettingarm for aspirating and dispensing of a liquid accordingly to the virtualpipette in the three-dimensional model.
 3. The method of claim 2,wherein aspiration points and dispensing points for liquids aredetermined from the movement and activation data; wherein a movement ofthe pipetting arm is determined from the aspiration points anddispensing points.
 4. The method of claim 2, wherein a movement ofliquids virtually aspirated and dispensed with the virtual pipette isperformed in the three-dimensional model and displayed in the virtualreality headset.
 5. The method of claim 2, wherein the componentsinclude a disposable tip and a mounting and movement of the disposabletip is performed in the three-dimensional model and displayed in thevirtual reality headset.
 6. The method of claim 1, wherein, for eachcomponent, the configuration data encodes a type of component and aposition of the component in the laboratory automation device; whereinthe three-dimensional model is generated from modeling data encoding ageometric layout for each component.
 7. The method of claim 1, whereinthe components comprise at least one of a well, a microtiter plate, areagent container and a sample tube.
 8. The method of claim 1, whereintypes of liquids contained in the components are specified in theconfiguration data of the laboratory automation device; whereindifferent types of liquids are differently visualized in thethree-dimensional model.
 9. The method of claim 1, wherein movement dataand/or activation data is recorded for one virtual sample; wherein thecontrol program is generated, such that it repeats the movement of thepipetting arm and/or aspiration and dispensing of the pipette for aplurality of real samples in the laboratory automation device.
 10. Themethod of claim 1, wherein the motion sensing controller is adapted forbeing held in a hand of a user wearing the virtual reality headset;wherein the motion sensing controller comprises a motion sensor forgenerating the movement data; wherein the motion sensing controllercomprises a button for generating activation data.
 11. The method ofclaim 1, wherein the virtual pipette is a multichannel pipettecomprising a plurality of pipette tips.
 12. A computer program forgenerating a control program for a laboratory automation device, which,when being executed by a processor, is adapted to carry out the steps ofthe method of claim
 1. 13. A control system for a laboratory automationdevice, the system comprising: the laboratory automation device with oneor more sensors; a virtual reality headset; a motion sensing controller;a computing device communicatively interconnected with the laboratoryautomation device, the virtual reality headset and the motion sensingcontroller and adapted for performing the method according claim 1.